Cook bacon in large skillet over medium-high heat until crisp. Remove with slotted spoon; drain on paper towels. Reserve 1 tablespoon drippings.
Add onion to drippings in skillet; cook 2 to 3 minutes or until tender.
Stir in beans, ketchup, corn syrup, mustard and vinegar. Crumble cooked bacon and stir into mixture.
Spoon bean mixture into 2-quart baking dish. Bake in 350°F oven 25 to 30 minutes or until bubbling and heated through.